public static void specified_pos(Needle needle)
{
/*
Needle needle = new Needle(); // for sake of have a valid head position and initial joint values for the following optimizer
needle.kinematics.joint.UpperBevel = 60;
needle.kinematics.joint.LowerBevel = 60;
needle.kinematics.joint.Elbow = 150; // no need for twist, twist will be given in loop
needle.kinematics.joint.twist=0;
needle.update_needle();
*/
Optimizer optimizer = new Optimizer();
optimizer.point_target.X = NeedleKinematics.get_translation(needle.head).X;
optimizer.point_target.Y = NeedleKinematics.get_translation(needle.head).Y;
optimizer.point_target.Z = NeedleKinematics.get_translation(needle.head).Z;
optimizer.x = new double[3] { needle.kinematics.joint.UpperBevel, needle.kinematics.joint.LowerBevel, needle.kinematics.joint.Elbow };
int n = 20;
for (int i = 0; i < n; i++)
{
optimizer.point_target.W = i * 360 / n;
Joints optimized_joints = optimizer.minimize_postionNtwist();
needle.kinematics.joint=optimized_joints;
needle.update_needle();
Print.PrintJointOnFile(optimized_joints);
Print.PrintMatrixOnFile(needle.center);
optimizer.x = new double[3] { optimized_joints.UpperBevel, optimized_joints.LowerBevel, optimized_joints.Elbow };
}
}
public Trajectory()
{
t = 0;
head = new Matrix3D();
needle_entry = new Needle();
needle_exit = new Needle();
needle_mid = new Needle();
interpolation = new Interpolation(); // might be deleted
optimizer = new Optimizer();
}
public void set_entry_needle(Joints joint)
{
double central_angle = get_central_angle();
Optimizer optimizer = new Optimizer();
Point4D target = new Point4D(entry_point.X, entry_point.Y, entry_point.Z, central_angle);
Console.Write("\noTarget entry: {0}, {1}, {2}, {3}", entry_point.X, entry_point.Y, entry_point.Z, central_angle);
optimizer.point_target = target;
optimizer.x = new double[] { joint.UpperBevel, joint.LowerBevel, joint.Elbow, joint.twist };
Joints optimized = optimizer.minimize_angle();
needle_entry.kinematics.joint.UpperBevel = optimized.UpperBevel;
needle_entry.kinematics.joint.LowerBevel = optimized.LowerBevel;
needle_entry.kinematics.joint.Elbow = optimized.Elbow;
needle_entry.kinematics.joint.twist = optimized.twist;
needle_entry.update_needle();
// setup needle_mid
needle_mid.kinematics.joint.UpperBevel = needle_entry.kinematics.joint.UpperBevel;
needle_mid.kinematics.joint.LowerBevel = needle_entry.kinematics.joint.LowerBevel;
needle_mid.kinematics.joint.Elbow = needle_entry.kinematics.joint.Elbow;
needle_mid.kinematics.joint.twist = needle_entry.kinematics.joint.twist;
needle_mid.update_needle();
}
// needle center for the needle frame and a point
public Joints update_trajectory(Joints joint)
{
// not used
double central_angle = get_central_angle();
Optimizer optimizer = new Optimizer();
Point4D target = new Point4D(entry_point.X, entry_point.Y, entry_point.Z, central_angle);
optimizer.point_target = target;
optimizer.x = new double[] { joint.UpperBevel, joint.LowerBevel, joint.Elbow, joint.twist };
Joints optimized = optimizer.minimize_angle();
return optimized;
//Vector3D projected_exit_point = project_point(exit_point, needle_normal, needle_point);
//Matrix3D head = calculate_needle_tip(entry_point, projected_exit_point, needle_normal);
}
//based on head frame
public void update_needle(Matrix3D desired)
{
Optimizer optimizer = new Optimizer();
optimizer.T_taget = desired;
optimizer.x = new double[4] { kinematics.joint.UpperBevel, kinematics.joint.LowerBevel, kinematics.joint.Elbow, kinematics.joint.twist };
Joints optimized_joints = optimizer.minimize_error();
kinematics.joint.UpperBevel = optimized_joints.UpperBevel;
kinematics.joint.LowerBevel = optimized_joints.LowerBevel;
kinematics.joint.Elbow = optimized_joints.Elbow;
kinematics.joint.twist = optimized_joints.twist;
update_needle();
}